Object recognition method and device in scene

Abstract

The invention provides a method and device for recognizing objects in a scene. The method includes: acquiring point cloud data and scene images collected in a detection scene; extracting three-dimensional features of the point cloud data, and determining the The image block of the object to be detected; extracting the two-dimensional feature of the image block, and performing a feature fusion operation on the two-dimensional feature and the three-dimensional feature to obtain the fusion feature; according to the fusion feature, determining the position of the object to be detected in the detection scene, and The category of the object to be detected. The present invention performs feature fusion operations on three-dimensional features and two-dimensional features to obtain fusion features including richer semantic and structural information, which improves the accuracy of subsequent recognition based on fusion features, and, by introducing two-dimensional features in two-dimensional mode, It also makes up for the information lost by the three-dimensional feature due to the influence of the noise point cloud, and further improves the subsequent recognition accuracy.

Description

technical field [0001] The present invention belongs to the field of computer technology, and in particular relates to a recognition method, device, electronic equipment, computer-readable storage medium and computer program product of an object in a scene. Background technique [0002] With the continuous development of automatic driving technology, more and more vehicles are equipped with automatic driving functions. In automatic driving scenarios, there is usually a need to recognize objects in the environment where the vehicle is located. [0003] At present, the point cloud data collected by lidar can be used to perform three-dimensional modeling of the autonomous driving scene, and identify the objects and object categories in it, thereby improving the accuracy of the automatic driving function. [0004] However, the inventor found during the research process that in the current scheme, the lidar is easily affected by the external environment and thus generates a large...

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Problems solved by technology

[0005] Based on this, the present invention provides an object recognition scheme in a scene to solve the problem in the related art that laser radar generates a large number of noisy point clouds, which affects the recognition accuracy of objects

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